Robot cleaner and remote monitoring system using the same

ABSTRACT

A robot cleaner has a camera to generate an image of a cleaning area, a controller to prepare a cleaning map based on the image and to drive a robot cleaner, and a communicator to transmit the image and cleaning map to an external device and to receive a control command from the external device. The image and map may be transmitted over a local or wide area network, and the external device may be a computer, television, smart phone, portable phone, or other type of wireless access device.

CROSS-REFERENCE TO RELATED APPLICATIONS

Pursuant to 35 U.S.C. §119(a), this application claims the benefit ofearlier filing date and right of priority to Korean Application No.10-2010-0038631 filed on Apr. 26, 2010, the contents of which areincorporated herein by reference.

BACKGROUND

1. Field

One or more embodiments described herein relate to a robotic cleaner.

2. Background

Robots have been developed for industrial use in factory automation, aswell as for medical and aerospace purposes. Recently, the use of robotsin the home has garnered particular attention. An example of a homerobot is a robot cleaner, which is a kind of home appliance thatsuctions dirt off the floor while traveling within a predetermined area.The robot cleaner is provided with a rechargeable battery and a sensorto avoid obstacles while traveling.

More recently, remote monitoring technology based on a communicationnetwork has been used to control these cleaners. In spite of thesedevelopments, improvements are needed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows one embodiment of a robot cleaner.

FIG. 2 shows a remote monitoring system for a robot cleaner.

FIG. 3 shows an internal configuration of a robot cleaner.

FIG. 4 shows a wireless terminal device for a robot cleaner.

FIG. 5 shows another embodiment of a robot cleaner.

FIG. 6 shows another remote monitoring system for a robot cleaner basedon a local area network.

FIG. 7 shows another remote monitoring system for a robot cleaner basedon a wide area network.

FIG. 8 shows an example of a screen of a wireless terminal device forcontrolling a robot cleaner in cleaning mode.

FIG. 9 shows an example of a screen of a wireless terminal forcontrolling a robot cleaner in security mode.

FIGS. 10 and 11 show steps included in one embodiment of a remotemonitoring method for a robot cleaner.

DETAILED DESCRIPTION

FIG. 3 shows one embodiment of a robot cleaner which includes one ormore monitoring cameras 110, a control unit 130, and a communicationserver 120.

The one or more monitoring cameras 110 capture a cleaning area togenerate a monitoring image. The monitoring camera 110, as illustratedin FIG. 1, is typically provided at a front surface or lateral surfaceof the robot cleaner. The monitoring camera captures a cleaning areawhile traveling or cleaning. According to circumstances, it may beprovided at an upper portion of the robot cleaner.

In case where the robot cleaner has a plurality of cameras, theplurality of cameras may be formed at a lateral surface of the robotcleaner with a predetermined distance or predetermined angle. The robotcleaner may further include a lens connected to the monitoring camera110 to adjust the focus of a subject, a positioning unit for positioninga camera, and a lens positioning unit for positioning the lens. Therobot cleaner may be provided with a multiplexer (not shown) in additionto a plurality of monitoring camera 110. Here, the multiplexer selectsand outputs one of monitoring images generated from the plurality ofmonitoring cameras 110 according to a drive signal of the control unit130.

The communication server 120 transmits the monitoring image and thecleaning map to an external device and receives a control command fromthe external device. The communication server 120 streaming-transmitsthe monitoring image to the connected external device. At this time, thecommunication server 120 transmits the monitoring image according to arequest of the external device. In other words, the communication server120 checks that the external device is accessed to the robot cleaner andthen transmits the monitoring image.

For another example, the communication server 120 may be always in astandby state to transfer surrounding images captured through themonitoring camera 110 to an external device. Furthermore, thecommunication server receives a control command and transfers thereceived control command to the control unit 130. Here, the controlcommand is a control command for driving a robot cleaner, or a commandfor controlling the image detection unit 110. For example, the controlcommand is a command for checking the status information of the robotcleaner, various stored or detected information, a command for drivingeach unit or the like. The communication server 120 may include awireless access module, for example, a Wi-Fi module, connected to awireless access device such as an access point (AP) which will bedescribed later.

The control unit 130 drives a robot cleaner and searches for thecleaning area to prepare a cleaning map. The control unit 130 controlsthe operation of the robot cleaner based on the user's command receivedthrough its own built-in algorithm, a program stored in the storage unitwhich will be described later, an input unit, or the like. The controlunit controls the operation of the monitoring camera 110 and takes partin the operation of transmitting a cleaning map and a monitoring imageto an external device through the communication server 120.

Furthermore, the control unit 130 drives the monitoring camera 110 foreach unit which will be described later based on a control commandtransmitted from the external device.

Furthermore, the control unit 130 searches for a cleaning area toprepare a cleaning map. The communication server 120 transmits thecleaning map prepared by the control unit 130 to the connected externaldevice.

Furthermore, the communication server 120 transmits information such asa cleaned area, a non-cleaned area, a cleaning pattern, acleaning-disabled region, a cleaning status, and the like to theexternal device.

Operation of the control unit 130 to extract a characteristic point froman image captured by an upward camera will now be described.

The control unit 130, for example, extracts a characteristic point usingnatural marks such as a fluorescent lamp, an interior structure, and thelike, which exist in the upper region including a ceiling. Thecharacteristic point extraction operation may be carried out bycapturing the upper part once and then extracting a characteristicpoint. In other embodiments, more than one characteristic point may beextracted from the same or different images at the same or differenttimes while still or during movement.

First, the robot cleaner captures an image of an upper part including,for example, a ceiling at a first time and a second time, respectively,through the upward camera during movement. The image may include aplurality of marks, for example, two marks including a first marklocated at the ceiling and a second mark located at the ceiling oranother position within the image. At this time, the first and thesecond mark in an image signal captured at the first time represent afirst and a second characteristic point. On the other hand, the firstand the second mark at the second time represent a third and a fourthcharacteristic point.

The control unit 130 matches the first characteristic point to the thirdcharacteristic point, and the second characteristic point to the fourthcharacteristic point, respectively, which are the characteristic pointsof the image signal for the first and the second mark, and compares eachother to calculate a moving distance.

In other words, the characteristic points of the image informationcaptured at the first and the second time are compared with each otherto calculate a moving distance of the first mark based on the first andthe third characteristic points, and a moving distance of the secondmark based on the third and the fourth characteristic points.

At this time, moving distances between the first and the second mark andthe robot cleaner based on the movement of the robot cleaner areconstant and the same as an actual moving distance of the robot cleaner.However, moving distances of the characteristic points may be differentfrom one another. The moving distance of the characteristic point for amark decreases as increasing the distance of the mark, whereas themoving distance difference of characteristic points increases as locatedclose to the robot cleaner, i.e., as located at a surface of the walllower than the ceiling.

Accordingly, if the movement ratio of the characteristic point based onthe movement of the robot cleaner is greater than a predetermined valuelike the second mark, then the control unit 130 determines it as anunnecessary characteristic point and removes it.

Furthermore, since the first mark between the first and the second markis located at the ceiling, the control unit 130 calculates a height ofthe second mark using a distance from the robot cleaner to the ceiling.If the calculated height is equal to or less than a reference height,then the control unit 130 determines it as an unnecessary characteristicpoint and removes it. The moving distance of the first mark and themoving distance of the second mark may be proportional to a ratio ofactual moving distance to height of the first and the second mark andthe robot cleaner.

At this time, since the actual moving distance is the same and theheight for the first mark is a height of the ceiling, it may be possibleto calculate a height for the second mark. Here, it is determined that acharacteristic point located at a central portion in the captured imageis located at the ceiling, and a height of the characteristic point iscalculated on the basis of the characteristic point located at thecentral portion.

Then, the control unit 130 concurrently performs location recognitionand cleaning map generation using simultaneous localization and mapping(SLAM). The characteristic point extraction operation illustrates anexample thereof, and an algorithm for the characteristic pointextraction operation or an algorithm for performing location recognitionand cleaning map preparation may be changed based on the situation wherethe robot cleaner is placed, the configuration of the robot cleaner, andthe like.

Referring to FIG. 3, the robot cleaner may further include an imageprocessing unit 140 for compressing the monitoring image. The imageprocessing unit 140 compresses a monitoring image outputted from theimage detection unit 110 using a compression technique such as audiovideo interleaved (AVI), advanced streaming format (ASF) and the like.In particular, the image processing unit 140 may be an MPEG encoder.

The robot cleaner may further include an authentication unit 150 forpermitting or blocking access to the external device. The authenticationunit 150 may be provided in the form of an authentication server. Theauthentication unit may store authentication information for theexternal device, for example, information capable of identifying theexternal device such as phone number, user ID, password, address, andthe like.

According to another example, as will be described in greater detaillater, when the robot cleaner has a storage unit as a separate module,the authentication unit 150 may store authentication information for theexternal device in the storage unit. At this time, if the externaldevice requests authentication or access, then the authentication unit150 reads information for the external device from the storage unit, andthen permits authentication or access to the external device. Thetechnologies for the method of authentication are publicly known.

Referring to FIG. 5, a robot cleaner according to another embodiment mayinclude one or more monitoring cameras 110, a control unit 130, acommunication server 120, an obstacle detection unit 160, and a locationrecognition unit 170. Here, the robot cleaner generates a cleaning mapbased on the obstacle and its own location.

One or more monitoring cameras 110 capture a cleaning area to generate amonitoring image. The control unit 130 drives the robot cleaner, andsearches for the cleaning area to prepare a cleaning map. Thecommunication server 120 transmits the monitoring image and the cleaningmap to an external device and receives a control command from theexternal device.

The obstacle detection unit 160 detects an obstacle in the vicinity ofthe robot cleaner while moving within a cleaning area or performingcleaning. The obstacle detection unit outputs the existence ornon-existence of the obstacle, the location thereof, the size thereof,or the like to the control unit 130. For the obstacle detection unit160, an infrared sensor, an ultrasonic sensor, radio frequency (RF)sensor, a bumper, or the like may be used. The control unit 130 checks acleaning area based on the obstacle information outputted from theobstacle detection unit 160.

The location recognition unit 170 is provided with one or more distancesensors to recognize the location of the robot cleaner within thecleaning area. Here, for the location recognition unit 170, at least oneof an acceleration sensor for detecting the speed and location, anencoder connected to a wheel motor for driving a wheel of the robotcleaner, and a gyro sensor for detecting the rotation speed of the robotcleaner may be used.

Furthermore, an upward camera 171 provided at an upper portion of therobot cleaner to capture the upper part and output an upper image may beused for the location recognition unit 170. The operation of extractinga characteristic point and preparing a cleaning map using the upwardcamera 171 will be replaced with the description of the robot cleaneraccording to one embodiment.

The control unit 130 prepares a cleaning map using location informationrecognized through the location recognition unit 170, or using togetherwith the obstacle information. Furthermore, the control unit 130modifies or complements the prepared cleaning map using the locationinformation and the obstacle information.

Referring to FIG. 5, the robot cleaner may further include a storageunit 180 for storing at least one of the monitoring image or compressedmonitoring image, authentication information on the external device,information on the obstacle, information on the location of the robotcleaner, and the cleaning map.

The storage unit 180 stores a monitoring image detected through themonitoring camera 110, information on a monitoring image compressedthrough the image processing unit 140, authentication information on theexternal device, namely, wireless terminal device or wireless accessdevice.

Furthermore, the storage unit 180 stores at least one of obstacleinformation such as the location of the obstacle detected through theobstacle detection unit 160 while moving or cleaning, and a cleaning mapprepared through the control unit 130. A non-volatile memory isprimarily used for the storage unit 180. Here, the non-volatile memory(NVM, NVRAM) is a storage device in which stored information continuesto be maintained without being supplied with power. For example, thenon-volatile memory may include ROM, flash memory, magnetic computerstorage device (for example, hard disc, diskette drive, magnetic tape),optical disc drive, magnetic RAM, PRAM, and the like.

Referring to FIG. 5, a robot cleaner according to embodiments mayfurther include a power unit 197, a drive unit 195, an input unit 191,and an output unit 193. The power unit 197 is provided with arechargeable power supply means to supply power within the robotcleaner. The power unit supplies operating power while performingcleaning, and if the power remaining amount is insufficient, then thecharge current is supplied from the charging station to be charged.

The drive unit 195 drives a wheel to move the robot cleaner. The driveunit is connected to multiple wheels including a plurality of mainwheels and one or more auxiliary wheels. Furthermore, the drive unit isprovided with a specified wheel motor for rotating the wheels to drivethe wheel motor, thereby moving the robot cleaner.

The input unit 191 is provided with one or more buttons to directlyreceive a control command. The user or the like directly inputs acontrol command to the robot cleaner through the input unit 191.Furthermore, the user or the like may input a command for outputting oneor more information from the information that has been stored in thestorage unit 180 through the input unit.

The input unit 191 may include one or more input buttons. For example,the input buttons may include a check button for inputting a command tocheck location information such as information for a monitoring image,authentication information for an external device, the location ofobstacles, the location of the robot cleaner, and the like, or check acleaning area or cleaning map, a configure button for inputting aconfiguration command, a reconfigure button for inputting areconfiguration command, a delete button, a cleaning start button, astop button, and the like.

The output unit 193 outputs at least one of the monitoring image orcompressed monitoring image, authentication information on the externaldevice, information on the obstacle, information on the location of therobot cleaner, and the cleaning map. The output unit 193 outputsinformation for a monitoring image stored in the storage unit 180,information on an external device, obstacle information or informationon a cleaning area, information detected or recognized through theobstacle detection unit 160 or the location recognition unit 170, acleaning map prepared through the control unit 130.

The output unit 193 may further display status information such as acurrent status of each unit constituting the robot cleaner, a currentcleaning status, and the like. The output unit 193 may be formed withany one of a light emitting diode (LED), a liquid crystal display (LCD),a plasma display panel, and an organic light emitting diode (OLED).Here, the input unit 191 and output unit 193 may have the form of atouch screen capable of performing both input and output.

The robot cleaner may include a cleaning unit (not shown), and thecleaning unit is provided with a specific suction motor for sucking airand a means for condensing dust to suck surrounding dust or foreignsubstances.

Referring to FIG. 2, a remote monitoring system according to anembodiment may include a robot cleaner 100 and a wireless terminaldevice 200. The robot cleaner 100 searches for a cleaning area toprepare a cleaning map, and captures the cleaning area to generate amonitoring image.

The wireless terminal device 200 accesses the robot cleaner to receivethe monitoring image and the cleaning map from the robot cleaner andtransmit a control command to the robot cleaner. Here, the wirelessterminal device 200 may include at least one of wirelesscommunication-enabled devices, such as a computer, a television, a smarttelevision, a smart phone, and a portable phone. Hereinafter, thedescription of the robot cleaner will be replaced with the descriptionof FIG. 3 or 5, and therefore, will be omitted below.

The control command may include at least one of a control command forthe monitoring camera such as zoom-in/zoom-out, tilting, and the like, aselect command, and a control command for the robot cleaner.

Furthermore, the control command may include a command for checkingvarious stored or detected information such as the status information ofthe robot cleaner, a command for driving each unit, or the like.

Furthermore, the wireless terminal device 200 displays a cleaning mapreceived from the robot cleaner 100 to check a cleaned area, anon-cleaned area, and the like, and selects a desired location or areaon the cleaning map to move the robot cleaner to the relevant locationor the relevant area, or generates a control command for requesting amonitoring image for the relevant location or the relevant area totransmit to the robot cleaner.

Referring to FIG. 4, the wireless terminal device 200 may include astorage module 210, a control module 230, and a communication module220. The storage module 210 stores a remote monitoring program. Thecontrol module 230 executes the remote monitoring program and generatesthe control command. The communication module 220 receives themonitoring image and cleaning map from the robot cleaner and transmitsthe control command to the robot cleaner.

Furthermore, the wireless terminal device may further include a userinterface module 240 for displaying the cleaning map or the monitoringimage and receiving the control command.

In FIG. 2, the wireless terminal device 200 is directly connected to theimage processing unit 140 within the robot cleaner in the form of aWi-Fi Direct network to transmit and receive data. The communicationmodule 220 is connected to the communication server 120 to receive acleaning map or monitoring image from the communication server 120.Furthermore, the communication module transmits a control commandgenerated from the control module 230 to the communication server 120.

First, the wireless terminal device 200 accesses the robot cleaner 100and then requests the cleaning map or the monitoring image to the robotcleaner 100 to receive it. FIG. 2 illustrates a form in which thewireless terminal device 200 and the robot cleaner 100 are connected toeach other through ad-hoc networking.

The wireless terminal device 200 provides the cleaning map or themonitoring image transmitted by the robot cleaner to the user or thelike through the user interface module 240. When the robot cleaner isprovided with the authentication unit 150, first, the communicationmodule 220 requests access and authentication to the robot cleaner tothe authentication unit 150. The authentication unit 150 comparesinformation on the wireless terminal device 200 therewith to determineand permit access thereto. If access is permitted (authenticated), thenthe wireless terminal device 200 requests the transmission of a cleaningmap to the robot cleaner 100.

When the communication module 220 receives the cleaning map, the userinterface module 240 displays the cleaning map. The user or the likechecks a cleaned area, a non-cleaned area, and the like through thecleaning map displayed on the user interface module 240.

Furthermore, the user or the like inputs a command for allowing therobot cleaner to be moved to a desired location or area through thecleaning map, or a command for allowing the relevant location or area tobe cleaned through the user interface module 240. If the user or thelike selects a specific location or area on the cleaning map, then thewireless terminal device displays a monitoring image corresponding tothis. Furthermore, the user or the like selects a specific location orarea, then the wireless terminal device generates a command forrequesting a monitoring image for the relevant location or area.

The control module 230 receives the user command to generate a controlcommand such as a control command for the robot cleaner, a status checkcommand, a monitoring camera control command, and the like. Thecommunication module 220 transmits the control command to thecommunication server.

FIGS. 8 and 9 are views illustrating an example of a user interfacescreen for allowing the wireless terminal device to control the robotcleaner. When the user wants to monitor the inside of the room where arobot cleaner is placed using the robot cleaner or perform cleaning onthe wireless terminal device 200, first, the user executes a remotemonitoring program stored in the storage module 210.

As shown in FIGS. 8 and 9, screens in which a remote monitoring programin a security mode, a cleaning mode, and an information check modecapable of checking information is carried out.

Referring to FIG. 8, the wireless terminal device displays a cleaningmap received from the robot cleaner in a cleaning mode on the userinterface module 240. The user interface module 240 may include aplurality of buttons such as start, end, charge, cleaning patternsetting, and the like, to receive a command for controlling the robotcleaner from the user or the like.

When the user or the like wants to see a monitoring image for a specificlocation or area on the displayed cleaning map, as illustrated in FIG.9, the wireless terminal device 200 is switched to a security mode. Ifthe user or the like selects a specific location or area on the cleaningmap, then the wireless terminal device displays a monitoring imagecorresponding to this.

Furthermore, if the user or the like selects a specific location or areaon the cleaning map, then the wireless terminal device generates acommand for requesting a monitoring image for the relevant location orarea. If the wireless terminal device 200 requests a monitoring imagefor a specific location or area desired by the user or the like to therobot cleaner 100, then the robot cleaner transmits the monitoring imagecorresponding to the relevant location or area to the wireless terminaldevice. At this time, if the robot cleaner is not placed at the relevantlocation, then it is moved to the relevant location to generate andtransmit a monitoring image for the relevant location.

As illustrated in FIG. 9, the wireless terminal device may receive acommand for controlling a monitoring camera through the user interfacemodule 240.

Referring to FIG. 6, a remote monitoring system according to anotherembodiment may include a robot cleaner 100 and a wireless terminaldevice 200, and the wireless terminal device 200 is connected to therobot cleaner 100 through the wireless access device 300. The robotcleaner 100 searches for a cleaning area to prepare a cleaning map, andcaptures the cleaning area to generate a monitoring image.

The wireless terminal device 200 accesses the robot cleaner to receivethe monitoring image and the cleaning map from the robot cleaner andtransmit a control command to the robot cleaner. Here, the wirelessterminal device 200 may include at least one of wirelesscommunication-enabled devices, such as a computer, a television, a smarttelevision, a smart phone, and a portable phone. The wireless accessdevice 300 is a device such as an access point (AP) for connecting therobot cleaner 100 to the wireless terminal device 200. Hereinafter, thedescription of the robot cleaner will be replaced with the descriptionof FIG. 3 or 5, and therefore, will be omitted below.

FIG. 6 illustrates a form in which the wireless terminal device 200 andthe robot cleaner 100 are connected to each other through a local areanetwork. In other words, the wireless terminal device 200 is mountedwith a wireless communication module, for example, a Wi-Fi module. Thewireless terminal device is connected to the communication server 140 orauthentication unit 150 in the robot cleaner 100 without having aseparate server.

The wireless terminal device 200 connected to the robot cleaner 100through the wireless access device 300 to receive a monitoring image orcleaning map and transmit a control command. An example of thedescription and operation for the detailed configuration of the wirelessterminal device in a remote monitoring system according to anotherembodiment will be replaced with the description of FIGS. 4, 8, and 9 ina remote monitoring system according to the one embodiment, andtherefore, will be omitted below.

Referring to FIG. 7, a remote monitoring system according to stillanother embodiment may include a robot cleaner 100 for searching for acleaning area to prepare a cleaning map and capturing the cleaning areato generate a monitoring image, and a wireless terminal device 200 foraccessing the robot cleaner to receive the monitoring image and cleaningmap and transmit a control command to the robot cleaner, and thewireless terminal device 200 is connected to the robot cleaner 100through a network provided by a communication provider or the like.

At this time, according to circumstances, the remote monitoring systemmay further include a wireless access device 300. Here, the wirelessterminal device 200 may include at least one of wirelesscommunication-enabled devices, such as a computer, a television, a smarttelevision, a smart phone, and a portable phone. The wireless accessdevice 300 is a device such as an access point (AP) for connecting therobot cleaner 100 to the wireless terminal device 200. Hereinafter, thedescription of the robot cleaner will be replaced with the descriptionof FIG. 3 or 5, and therefore, will be omitted below.

FIG. 6 is a view illustrating a form in which the wireless terminaldevice 200 and the content provider 10 are connected to each other inthe environment of a wide area network. Referring to FIG. 6, thewireless terminal device 200 may include a public network accessiblechannel such as a mobile communication module, a wireless communicationmodule, a modem, and the like. In other words, the wireless terminaldevice 200 is connected to a network through a channel provided by acommunication provider or through a wireless access device.

The wireless terminal device is connected to the robot cleaner through aconnected network to perform a remote monitoring operation such asproviding a monitoring image through a user interface, or display acleaning map. An example of the description and operation for thedetailed configuration of the wireless terminal device in a remotemonitoring system according to still another embodiment will be replacedwith the description of FIGS. 4, 8, and 9 in a remote monitoring systemaccording to the one embodiment, and therefore, will be omitted below.

A remote monitoring method of a remote monitoring system using a robotcleaner will be described with reference to FIGS. 10 and 11.

Referring to FIG. 10, a remote monitoring method according to a remotemonitoring system using a robot cleaner according to an embodiment mayinclude allowing the robot cleaner to capture the cleaning area throughthe monitoring camera and generate a monitoring image (S110), allowingthe robot cleaner to search for the cleaning area and prepare thecleaning map (S120), allowing the wireless terminal device to access therobot cleaner (S141), and allowing the robot cleaner to transmit themonitoring image and the cleaning map to the wireless terminal devicewhen the wireless terminal device is accessed to the robot cleaner(S144).

Here, allowing the wireless terminal device to access the robot cleanermay include allowing the wireless terminal device to requestauthentication to the robot cleaner (S141), allowing the robot cleanerto determine whether the wireless terminal device is authenticated (notshown), and allowing the robot cleaner to permit access to the wirelessterminal device as a result of determination (S142).

The remote monitoring method may further include allowing the robotcleaner to compress the monitoring image (S111) and storing themonitoring image, a compressed monitoring image, or a cleaning map(S130).

The remote monitoring method may further include allowing the wirelessterminal device to display the cleaning map (S150) and allowing thewireless terminal device to display a monitoring image for the relevantlocation or area when a specific location or area is selected (S151).Furthermore, the remote monitoring method may further include allowingthe wireless terminal device to generate a control command to the robotcleaner (S160), and allowing the wireless terminal device to transmitthe control command to the robot cleaner (S161).

The robot cleaner 100 captures the vicinity through the monitoringcamera 110 to acquire a monitoring image (S110). The image processingunit 140 compresses the monitoring image using a compression technique(S111), and the storage unit 180 stores the monitoring image orcompressed monitoring image (S130). Furthermore, the robot cleaner 100searches for a cleaning area to prepare a cleaning map (S120). Thewireless terminal device 200 executes a remote monitoring program storedin the storage module 210, and then requests authentication to thecommunication terminal device through the communication server 120 ordirectly to the authentication unit 150 (S141).

The authentication unit 150 permits authentication using a databasestored in the unit itself or information on an external device, namely,a wireless terminal device, stored in the storage unit 180 (S142). Thewireless terminal device accessed to the robot cleaner requests acleaning map and a monitoring image in a separate manner, or requeststhe transmission of a cleaning map and a monitoring image during theaccess to receive the cleaning map and monitoring image from the robotcleaner (S144). The wireless terminal device 200 displays the cleaningmap received through the user interface module 240 (S150).

Furthermore, the wireless terminal device 200 displays a monitoringimage for a specific location or area desired by the user or the like(S151). The wireless terminal device 200 receives a control command suchas controlling the robot cleaner, manipulating a monitoring imagescreen, and the like, from the user or the like (S160). The wirelessterminal device 200 transmits a control command received from the useror the like, or a control command generated by the device itself to thecommunication server 120 through the communication module 220.

The control unit 130 controls the robot cleaner or controls theoperation of each unit based on the control command (S170). Here, thecontrol command is at least one of control commands for the robotcleaner including a control command for the monitoring camera such aszoom-in/zoom-out, tilting, and the like, a select command, and a commandfor checking various stored or detected information such as the statusinformation of the robot cleaner, a command for driving each unit, orthe like.

Furthermore, the control command refers to a control command forselecting a desired location or area on the cleaning map to move therobot cleaner to the relevant location or the relevant area, orrequesting a monitoring image for the relevant location or the relevantarea.

Referring to FIG. 11, a remote monitoring method according to a remotemonitoring system using a robot cleaner according to another embodimentmay include allowing the robot cleaner to capture the cleaning areathrough the monitoring camera and generate a monitoring image (S210),allowing the robot cleaner to search for the cleaning area and preparethe cleaning map (S220), allowing the wireless terminal device to accessthe robot cleaner (S241), and allowing the robot cleaner to transmit themonitoring image and the cleaning map to the wireless terminal device(S244) when the wireless terminal device is accessed to the robotcleaner and then the robot cleaner requests the transmission of themonitoring image and the cleaning map (S243).

Here, said allowing the wireless terminal device to access the robotcleaner may include allowing the wireless terminal device to requestauthentication to the robot cleaner (S241), allowing the robot cleanerto determine whether the wireless terminal device is authenticated (notshown), and allowing the robot cleaner to permit access to the wirelessterminal device as a result of determination (S242).

The robot cleaner 100 captures the vicinity through the monitoringcamera 110 to acquire a monitoring image (S210). The image processingunit 140 compresses the monitoring image using a compression technique(S211), and the storage unit 180 stores the monitoring image orcompressed monitoring image (S230).

Furthermore, the robot cleaner 100 searches for a cleaning area toprepare a cleaning map (S220). The wireless terminal device 200 executesa remote monitoring program stored in the storage module 210, and thenrequests authentication to the communication terminal device through thecommunication server 120 or directly to the authentication unit 150(S241). The authentication unit 150 permits authentication using adatabase stored in the unit itself or information on an external device,namely, a wireless terminal device, stored in the storage unit 180(S242).

The wireless terminal device accessed to the robot cleaner requests acleaning map and a monitoring image in a separate manner, or requeststhe transmission of a cleaning map and a monitoring image during theaccess to receive the cleaning map and monitoring image from the robotcleaner (S243, S244).

The wireless terminal device 200 displays the cleaning map receivedthrough the user interface module 240 (S250). The, if a command forselecting a specific location or area is received from the user or thelike (S251), then the wireless terminal device transmits a controlcommand for requesting a monitoring image for the relevant location orarea (S252).

If the wireless terminal device has received a monitoring image for therelevant location or area in advance, then it may be displayed duringthe selection. If the wireless terminal device 200 requests a monitoringimage for a specific location or area desired by the user or the like tothe robot cleaner 100 (S252), then the robot cleaner transmits amonitoring image for the relevant location or area to the wirelessterminal device (S262).

At this time, if the robot cleaner is not placed at the relevantlocation, then the robot cleaner moves to the relevant location togenerate and transmit a monitoring image for the relevant location(S260, S261). The wireless terminal device displays the monitoring imagefor the relevant location or area through the user interface module 240(S270). The wireless terminal device transmits a control commandreceived from the user or the like or a control command generated by thedevice itself to the communication server 120 through the communicationmodule 220 (S281). The control unit 130 controls the robot cleaner orthe operation of each unit based on the control command (S290).

As described above, a robot cleaner according to embodiments, and aremote monitoring system using the same is provided with a robot cleanerfor providing a cleaning map prepared while cleaning or traveling, andproviding a monitoring image for a specific location or area, therebycontrolling the robot cleaner to be moved to a specific location or areaon the cleaning map, or performing cleaning for the relevant area.Furthermore, the embodiments provide a monitoring image for the relevantarea, thereby enhancing the remote monitoring efficiency and systemmanagement efficiency and raising the user's convenience.

According to one or more of the aforementioned embodiments, one objectis to provide a robot cleaner for searching for a cleaning area toprepare a cleaning map and a monitoring image.

According to one or more of the aforementioned embodiments, anotherobject thereof is to provide a remote monitoring system using a robotcleaner capable of receiving a cleaning map prepared while cleaning ortraveling to control the robot cleaner, and performing remote monitoringfor a specific location or area.

According to one embodiment, a robot cleaner is arranged to operate witha server for remote monitoring, thereby providing a remote monitoringimage without installing any other additional devices inside the room.

Another object is to provide a remote monitoring system performingremote monitoring using a household robot cleaner from a remote placewithout a home network system or separate relay server, and controllingthe robot cleaner.

According to one embodiment, a robot cleaner may include one or moremonitoring cameras configured to capture a cleaning area to generate amonitoring image, a control unit configured to drive a robot cleaner andsearch for the cleaning area to prepare a cleaning map, and acommunication server configured to transmit the monitoring image andcleaning map to an external device and receive a control command fromthe external device. Furthermore, the robot cleaner may further includean authentication unit configured to permit or block access to theexternal device.

According to another embodiment, a remote monitoring system may includea robot cleaner configured to search for a cleaning area to prepare acleaning map and capture the cleaning area to generate a monitoringimage, and a wireless terminal device configured to access the robotcleaner to receive the monitoring image and the cleaning map from therobot cleaner and transmit a control command to the robot cleaner.

According to another embodiment, a remote monitoring system may includea wireless access device connected between the robot cleaner andwireless terminal device or connected to the robot cleaner and externalnetwork.

According to another embodiment, a remote monitoring method using arobot cleaner and a remote monitoring system is configured to search fora cleaning area to prepare a cleaning map, and a wireless terminaldevice configured to access the robot cleaner to receive the cleaningmap and transmit a control command to the robot cleaner.

The method may further include allowing the robot cleaner to capture thecleaning area and generate a monitoring image, allowing the robotcleaner to search for the cleaning area and prepare the cleaning map,allowing the wireless terminal device to access the robot cleaner, andallowing the robot cleaner to transmit the monitoring image and thecleaning map to the wireless terminal device when the wireless terminaldevice is accessed to the robot cleaner.

According to another embodiment, a cleaning map is prepared while therobot cleaner cleans and/or travels, and a monitoring image is providedfor a specific location or area, to thereby enhance the remotemonitoring efficiency and promoting the user's convenience.

According to another embodiment, a robot cleaner may be controlled to bemoved to a specific location or area on the cleaning map, or performcleaning for the relevant area. Furthermore, according to theembodiments of the present disclosure, a monitoring image for therelevant area may be provided, thereby enhancing the system managementefficiency.

According to another embodiment, a robot cleaner is incorporated oradapted to operate with a server for remote monitoring to provide aremote monitoring image, thereby minimizing the device configuration ofa remote monitoring system, and simplifying the problems of installationand management.

According to one or more embodiments, the user or the like may access arobot cleaner through a wireless terminal device from a remote place tomonitor the inside of the house. According to the embodiments of thepresent disclosure, a wireless access device is provided therewith toprovide a remote monitoring image to a wireless terminal device using awide area network as well as a local area network.

According one embodiment, a robot cleaner may be controlled through awireless terminal device from a remote place to check the status of therobot cleaner and collect the information thereof. Also, the locationthereof may be correctly recognized and corrected together with remotemonitoring, thereby promoting the simplification of the system and theuser's convenience.

In accordance with another embodiment, a robot cleaner includes a camerato generate an image of a cleaning area, a controller to prepare acleaning map based on the image and to drive a robot cleaner, and acommunicator to transmit the image and cleaning map to an externaldevice and to receive a control command from the external device. Thecontrol command may control the camera or movement or orientation of therobot cleaner.

In addition, the robot cleaner may include an image processor tocompress the image and cleaning map, an authenticator to permit or blockaccess to the external device, a detector to detect an obstacle, and alocation recognizer having at least one sensor to recognize a locationof the robot cleaner. The controller may generate the cleaning map basedon the detected obstacle and the location.

In addition, the robot cleaner may include a display to display at leastone of the image, information corresponding to the obstacle, informationcorresponding to the location, authentication information on theexternal device, or the cleaning map.

In addition, the robot cleaner may include a storage unit to store atleast one of the image, information corresponding to the obstacle,information corresponding to the location, authentication information onthe external device, or the cleaning map.

In accordance with another embodiment, a system includes a robot cleanerto generate an image of a cleaning area and to prepare a cleaning mapbased on the image, and a wireless terminal to receive the image andcleaning map from the robot cleaner and to transmit a control command tothe robot cleaner.

The robot cleaner may include at least one camera to capture the imageof the cleaning area, a controller to generate the cleaning map from theimage and to drive the robot cleaner, and a communicator to transmit theimage and cleaning map to the wireless terminal and to receive thecontrol command from the wireless terminal. The robot cleaner may alsoinclude an image processor to compress the image and cleaning map and anauthenticator to permit or block access to the external device, as wellas a detector to detect an obstacle and a location recognizes having atleast one sensor to recognize a location of the robot cleaner. Thecontroller may generate the cleaning map based on the detected obstacleand the location.

The wireless terminal device may include a storage module to store aremote monitoring program, a controller to implement the remotemonitoring program and generate the control command, and a communicatorto receive the image and cleaning map from the robot cleaner and totransmit the control command to the robot cleaner. The terminal may alsoinclude a user interface to display the cleaning map or the image and toreceive the control command. The control command is to control thecamera or movement or orientation of the robot cleaner.

In addition, the wireless terminal may display the image when a portioncorresponding to a specific monitoring area in the cleaning map isselected while the cleaning map is displayed.

In addition, a wireless access device may be coupled between the robotcleaner and the wireless terminal or an external network. Also, thewireless terminal may be or include a computer, a television, a smartphone, a portable phone, or a wireless access device coupled to therobot cleaner through an external network.

In accordance with another embodiment, a method includes generating animage of a cleaning area to be cleaned by a robot cleaner, preparing acleaning map based on the image, establishing communication link betweena wireless terminal and the robot cleaner, and transmitting the imageand cleaning map from the robot cleaner to the wireless terminal overthe communication link. A request may be transmitted from the wirelessterminal to the robot cleaner to receive the image and cleaning map.

Any reference in this specification to “one embodiment,” “anembodiment,” “example embodiment,” etc., means that a particularfeature, structure, or characteristic described in connection with theembodiment is included in at least one embodiment of the invention. Theappearances of such phrases in various places in the specification arenot necessarily all referring to the same embodiment. Further, when aparticular feature, structure, or characteristic is described inconnection with any embodiment, it is submitted that it is within thepurview of one skilled in the art to effect such feature, structure, orcharacteristic in connection with other ones of the embodiments. Thefeatures of any one embodiment may be combined with the features of anyother embodiment.

Although embodiments have been described with reference to a number ofillustrative embodiments thereof, it should be understood that numerousother modifications and embodiments can be devised by those skilled inthe art that will fall within the spirit and scope of the principles ofthis disclosure. More particularly, various variations and modificationsare possible in the component parts and/or arrangements of the subjectcombination arrangement within the scope of the disclosure, the drawingsand the appended claims. In addition to variations and modifications inthe component parts and/or arrangements, alternative uses will also beapparent to those skilled in the art.

1. A robot cleaner, comprising: a camera to generate an image of acleaning area; a controller to prepare a cleaning map based on the imageand to drive a robot cleaner; and a communicator to transmit the imageand cleaning map to an external device and to receive a control commandfrom the external device.
 2. The robot cleaner of claim 1, furthercomprising: an image processor to compress the image and cleaning map.3. The robot cleaner of claim 1, further comprising: an authenticator topermit or block access to the external device.
 4. The robot cleaner ofclaim 1, further comprising: a detector to detect an obstacle; and alocation recognizer having at least one sensor to recognize a locationof the robot cleaner, wherein the controller generates the cleaning mapbased on the detected obstacle and the location.
 5. The robot cleaner ofclaim 4, further comprising: a display to display at least one of theimage, information corresponding to the obstacle, informationcorresponding to the location, authentication information on theexternal device, or the cleaning map.
 6. The robot cleaner of claim 4,further comprising: a storage unit to store at least one of the image,information corresponding to the obstacle, information corresponding tothe location, authentication information on the external device, or thecleaning map.
 7. The robot cleaner of claim 1, wherein the controlcommand is to control the camera or movement or orientation of the robotcleaner.
 8. A system, comprising: a robot cleaner to generate an imageof a cleaning area and to prepare a cleaning map based on the image; anda wireless terminal to receive the image and cleaning map from the robotcleaner and to transmit a control command to the robot cleaner.
 9. Thesystem of claim 8, wherein the robot cleaner comprises: at least onecamera to capture the image of the cleaning area; a controller togenerate the cleaning map from the image and to drive the robot cleaner;and a communicator to transmit the image and cleaning map to thewireless terminal and to receive the control command from the wirelessterminal.
 10. The system of claim 8, wherein the robot cleaner furthercomprises: an image processor to compress the image and cleaning map.11. The system of claim 8, wherein the robot cleaner further comprises:an authenticator to permit or block access to the external device. 12.The system of claim 8, wherein the robot cleaner further comprises: adetector to detect an obstacle; and a location recognizer having atleast one sensor to recognize a location of the robot cleaner, whereinthe controller generates the cleaning map based on the detected obstacleand the location.
 13. The system of claim 8, wherein the wirelessterminal device comprises: a storage module to store a remote monitoringprogram; a controller to implement the remote monitoring program andgenerate the control command; and a communicator to receive the imageand cleaning map from the robot cleaner and to transmit the controlcommand to the robot cleaner.
 14. The system of claim 13, wherein thewireless terminal further comprises a user interface to display thecleaning map or the image and to receive the control command.
 15. Thesystem of claim 14, wherein the wireless terminal displays the imagewhen a portion corresponding to a specific monitoring area in thecleaning map is selected while the cleaning map is displayed.
 16. Thesystem of claim 8, wherein the control command is to control the cameraor movement or orientation of the robot cleaner.
 17. The system of claim8, further comprising: a wireless access device coupled between therobot cleaner and the wireless terminal or an external network.
 18. Thesystem of claim 8, wherein the wireless terminal includes a computer, atelevision, a smart phone, a portable phone, or a wireless access devicecoupled to the robot cleaner through an external network.
 19. A methodcomprising: generating an image of a cleaning area to be cleaned by arobot cleaner; preparing a cleaning map based on the image; establishingcommunication link between a wireless terminal and the robot cleaner;and transmitting the image and cleaning map from the robot cleaner tothe wireless terminal over the communication link.
 20. The method ofclaim 19, further comprising: transmitting a request from the wirelessterminal to the robot cleaner to receive the image and cleaning map.